CN109843701B - Electric power steering apparatus - Google Patents

Electric power steering apparatus Download PDF

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Publication number
CN109843701B
CN109843701B CN201680089931.0A CN201680089931A CN109843701B CN 109843701 B CN109843701 B CN 109843701B CN 201680089931 A CN201680089931 A CN 201680089931A CN 109843701 B CN109843701 B CN 109843701B
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China
Prior art keywords
power supply
control unit
circuit
branched
filter
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CN201680089931.0A
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Chinese (zh)
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CN109843701A (en
Inventor
永岛友彦
森昭彦
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Mitsubishi Electric Corp
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Mitsubishi Electric Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0403—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by constructional features, e.g. common housing for motor and gear box
    • B62D5/0406—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by constructional features, e.g. common housing for motor and gear box including housing for electronic control unit
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0403—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by constructional features, e.g. common housing for motor and gear box
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
    • B62D5/0484—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures for reaction to failures, e.g. limp home
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/30—Structural association with control circuits or drive circuits
    • H02K11/33—Drive circuits, e.g. power electronics
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
    • H02P25/22—Multiple windings; Windings for more than three phases
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters

Abstract

An electric power steering apparatus of the present invention includes two sets of control units for driving an electric motor having two sets of independent windings, and a power supply is supplied by a single power supply connector, and at least 2 conductive members connected to terminals of the power supply connector are branched in the vicinity of the power supply connector, and two sets of power supply relays, filters, and inverter circuits are arranged symmetrically with respect to the power supply connector.

Description

Electric power steering apparatus
Technical Field
The present invention relates to an electric power steering apparatus having redundancy in an electric motor and a control unit for controlling the electric motor, and more particularly to an electric power steering apparatus having redundancy in the vicinity of a power supply line of the control unit.
Background
Conventionally, there is an electric power steering apparatus that generates an assist torque for assisting an axial torque of a vehicle driver by an electric motor, the electric power steering apparatus including: the electric power steering apparatus includes an electric motor having two sets of armature windings having substantially the same configuration, and a control unit includes an inverter circuit capable of driving the two sets of armature windings independently from each other. The conventional electric power steering apparatus thus configured is configured to control the electric motor by operating the two sets of inverter circuits in cooperation with each other in a normal state, but when an abnormality occurs in one of the two sets of inverter circuits, the electric motor is continuously driven only by the normal other set of inverter circuits.
Further, the following electric power steering apparatus has been disclosed in the related art: the components of the control unit other than the inverter circuit are also made a dual system to improve redundancy, thereby making it possible to sufficiently cope with a failure (see, for example, patent document 1). In the conventional electric power steering apparatus disclosed in patent document 1, not only armature windings of two sets of motors are provided, but also two sets of control units each including a + B power supply, an input circuit, a CPU, an output circuit, and the like connected to a positive electrode side of an in-vehicle battery are provided, and when an abnormality occurs in one of the above, the motor can be continuously driven from the other, which is normal.
Documents of the prior art
Patent document
Patent document 1: japanese patent No. 3839358
Disclosure of Invention
Technical problem to be solved by the invention
In the conventional electric power steering apparatus disclosed in patent document 1, two sets of the + B power supply, the input circuit, the CPU (central processing unit), the output circuit, and the like in the control unit are provided, respectively, and when one of the two sets is abnormal, the motor can be continuously controlled by the other, which is normal. However, in the case where two sets of control units are provided to have redundancy, there are many disadvantages in terms of mountability to a vehicle, cost, and the like, and therefore, it is necessary to configure redundancy in consideration of both cost performance and safety. In particular, the increase in the number of connectors not only increases the number of wire harnesses fitted to the connectors, but also doubles the area required for electrical connection from the connector terminals to the circuit network, as compared with the case where only 1 set of control units is provided. Further, since the inverter circuit switches a large current, there is room for improvement in measures against noise emitted from the control unit.
The present invention has been made to solve the above-described problems of the conventional electric power steering apparatus, and an object of the present invention is to provide an electric power steering apparatus which can simplify a circuit around a connector and suppress noise emission while having redundancy.
Technical scheme for solving technical problem
The electric power steering apparatus according to the present invention includes:
an electric motor that generates an assist torque based on a steering torque generated by a vehicle driver; a control unit that controls the motor; and a power supply connector connected to a battery mounted on the vehicle and supplying power to the control unit and the motor, wherein the electric power steering apparatus is characterized in that,
the motor includes two sets of armature windings consisting of a 1 st armature winding and a 2 nd armature winding of substantially the same structure,
the control means is composed of two sets of control means having substantially the same configuration, the two sets of control means being composed of a 1 st control means configured to be able to independently control the 1 st armature winding and a 2 nd control means configured to be able to independently control the 2 nd armature winding,
The 1 st control unit and the 2 nd control unit respectively include:
a power supply relay configured to be capable of switching a power supply;
the filter circuit is connected with the power supply relay;
an input circuit to which information from the sensor is input;
a drive circuit that generates a drive signal that drives the motor;
an inverter circuit controlled by the drive signal; and
a control circuit unit including a CPU for outputting a command signal for controlling the motor to the drive circuit based on the information input to the input circuit,
the power supply connector is composed of a single connector,
a power supply system connected to at least the positive electrode side of the battery among the terminals of the power supply connector is branched into two lines near the terminals,
the power supply relay, the filter, and the inverter circuit in the 1 st control unit are connected to one line branched in this order to set the power supply relay on the upstream side of the power supply system,
the power supply relay, the filter, and the inverter circuit in the 2 nd control unit are connected to the other line branched in this order to set the power supply relay on the upstream side of the power supply system,
The power supply relay and the filter in the 1 st control unit and the power supply relay and the filter in the 2 nd control unit have substantially the same configuration, and are arranged substantially symmetrically with respect to the terminal of the power supply connector.
Effects of the invention
According to the present invention, when an abnormality occurs, only the power supply of the system in which the abnormality has occurred is shut off, and control can be continued on the normal side without affecting the normal side, and steering operation can be performed in substantially the same manner as in the normal time.
Drawings
Fig. 1 is an overall circuit diagram of an electric power steering apparatus according to embodiment 1 of the present invention.
Fig. 2 is a sectional view of an electric power steering apparatus according to embodiment 1 of the present invention.
Fig. 3 is a detailed circuit diagram of a part of the electric power steering apparatus according to embodiment 1 of the present invention.
Fig. 4 is a plan view showing a detailed configuration of a part of an electric power steering apparatus according to embodiment 1 of the present invention.
Fig. 5 is a plan view showing a detailed configuration of a part of an electric power steering apparatus according to embodiment 2 of the present invention.
Fig. 6 is a perspective view of a radiator and a cover plate in an electric power steering apparatus according to embodiment 2 of the present invention.
Detailed Description
Embodiment 1.
Next, an electric power steering device according to embodiment 1 of the present invention will be described with reference to the drawings. Fig. 1 is an overall circuit diagram of an electric power steering apparatus according to embodiment 1 of the present invention. In fig. 1, an electric motor 2 that generates an assist torque for assisting a steering torque of a vehicle driver includes two sets of armature windings including a three-phase 1 st armature winding 2a and a three-phase 2 nd armature winding 2 b. The 1 st armature winding 2a and the 2 nd armature winding 2b have substantially the same configuration, but are arranged with an electrical angle of 120 degrees therebetween.
The two sets of control units, which are constituted by the 1 st control unit 1a and the 2 nd control unit 1b, are constituted by the same structural members, respectively, and have substantially the same configuration. The 1 st control unit 1a can independently supply power to the 1 st armature winding 2a, and the 2 nd control unit 1b can independently supply power to the 2 nd armature winding 2 b. In addition, the good marks in the figure represent connection terminals in the 1 st control unit 1a and the 2 nd control unit 1 b.
First, the 1 st control unit 1a of the two sets of control units will be explained. The 1 st control unit 1a includes a 1 st control circuit unit 4a on which a 1 st CPU10a is mounted, a 1 st inverter circuit 3a that supplies a current to a 1 st armature winding 2a of the motor 2, a 1 st power supply relay 5a, and a 1 st filter 6 a. The pair of power supply terminals of the 1 st control unit 1a are connected to a + B power supply connected to a positive electrode side terminal of a battery 9 mounted on the vehicle and a ground terminal GND, which is a negative electrode side terminal of the battery 9. The 1 st control unit 1a is configured such that the + B power supply is turned on by the ignition switch 7 to the 1 st control circuit unit 4a, and information of a torque sensor for detecting steering torque, a speed sensor for detecting a traveling speed of the vehicle, and the like mounted near a steering wheel of the vehicle, for example, is input from the sensors 8.
The information from the sensors 8 is transmitted to the 1 st CPU10a via the 1 st input circuit 12a provided in the 1 st control circuit unit 4 a. The 1 st CPU10a calculates a current value, which is a control amount for rotating the motor 2, based on the transmitted information, and outputs an output signal corresponding to the calculated value. The output signal from the 1 st CPU10a is transmitted to the 1 st drive circuit 11a and the 1 st inverter circuit 3a constituting the 1 st output circuit. The 1 st drive circuit 11a receives the 1 st command signal, which is an output signal from the 1 st CPU10a, and outputs a 1 st drive signal for driving each switching element, which will be described later, of the 1 st inverter circuit 3 a. Since only a small current flows through the 1 st drive circuit 11a, it is mounted on the 1 st control circuit unit 4a in embodiment 1, but it may be disposed in the 1 st inverter circuit 3 a.
The 1 st inverter circuit 3a is constituted by a three-phase bridge circuit, and includes: a U-phase bridge arm composed of a U-phase upper bridge arm switching element 31Ua and a U-phase lower bridge arm switching element 32Ua connected in series; a V-phase arm including a V-phase upper arm switching element 31Va and a V-phase lower arm switching element 32Va connected in series; and a W-phase arm including a W-phase upper arm switching element 31Wa and a W-phase lower arm switching element 32Wa connected in series.
The series connection of the U-phase upper arm switching element 31Ua and the U-phase lower arm switching element 32Ua is connected to the U-phase winding U1 of the 1 st armature winding 2a via the U-phase motor relay switching element 34 Ua. The series connection of the V-phase upper arm switching element 31Va and the V-phase lower arm switching element 32Va is connected to the V-phase winding V1 of the 1 st armature winding 2a via the V-motor relay switching element 34 Va. A series connection of the W-phase upper arm switching element 31Wa and the W-phase lower arm switching element 32Wa is connected to the W-phase winding W1 of the 1 st armature winding 2a via the W-phase motor relay switching element 34 Wa.
A U-phase shunt resistor 33Ua for U-phase current detection is connected in series with the U-phase lower arm switching element 32Ua, a V-phase shunt resistor 33Va for V-phase current detection is connected in series with the V-phase lower arm switching element 32Va, and a W-phase shunt resistor 33Wa for W-phase current detection is connected in series with the W-phase lower arm switching element 32 Wa.
The U-phase noise suppression capacitor 30Ua is connected in parallel to a U-phase arm including a U-phase upper arm switching element 31Ua and a U-phase lower arm switching element 32 Ua. V-phase noise suppression capacitor 30Va is connected in parallel to a V-phase arm including V-phase upper arm switching element 31Va and V-phase lower arm switching element 32 Va. Further, W-phase noise suppression capacitor 30Wa is connected in parallel to a W-phase arm including W-phase upper arm switching element 31Wa and W-phase lower arm switching element 32 Wa.
The potential difference between the two ends of the U-phase shunt resistor 33Ua, the V-phase shunt resistor 33Va, and the W-phase shunt resistor 33Wa, and the voltage of each winding terminal of the 1 st armature winding 2a are transmitted to the 1 st control circuit unit 4a and input to the 1 st CPU10 a. The 1 st CPU10a calculates a deviation between a current command value calculated by itself based on the steering torque of the driver or the like and a current detection value calculated based on the potential difference between the two ends of each of the input shunt resistors 33Ua, 33Va, 33Wa, and supplies a 1 st drive command, which is set to 0, to the 1 st drive circuit 11 a.
The 1 st drive circuit 11a supplies drive signals to the respective gate electrodes of the U-phase upper arm switching element 31Ua and the U-phase lower arm switching element 32Ua, the V-phase upper arm switching element 31Va and the V-phase lower arm switching element 32Va, and the W-phase upper arm switching element 31Wa and the W-phase lower arm switching element 32Wa of the 1 st inverter circuit 3a based on the 1 st drive command from the 1 st CPU10a, and performs PWM (Pulse Width Modulation) control on these switching elements.
Thus, the 1 st control unit 1a is configured to perform feedback control so that the deviation between the current command value and the current detection value becomes 0, thereby supplying a desired motor current to the 1 st armature winding 2a and causing the motor 2 to generate an assist torque for assisting the steering torque of the driver.
The 1 st control unit 1a is provided with a 1 st power supply relay 5a that turns on/off the power supply from the + B power supply of the battery 9 to the 1 st inverter circuit 3 a. The 1 st power relay 5a is constituted by a switching element Qa for power relay. The 1 st power relay 5a can turn on/off the current supplied to the 1 st armature winding 2a of the motor 2 by turning on/off the power relay switching element Qa with the drive signal from the 1 st control circuit unit 4 a.
The U-phase motor relay switching element 34Ua, the V-phase motor relay switching element 34Va, and the W-phase motor relay switching element 34Wa provided in the 1 st inverter circuit 3a are turned on and off by a drive signal from the 1 st control circuit 4a, and thus currents supplied from the 1 st inverter circuit 3a to the U-phase winding U1, the V-phase winding V1, and the W-phase winding W1 of the 1 st armature winding 2a can be independently turned on and off.
The 1 st CPU10a has an abnormality detection function of detecting an abnormality in the 1 st drive circuit 11a, the 1 st inverter circuit 3a, the 1 st armature winding 2a, and the like, in addition to the calculation of the current value, which is the control amount for rotating the motor, based on various information such as the steering torque detection value, the vehicle speed, and the like inputted from the sensors 8, and when an abnormality is detected, the upper arm switching element, the lower arm switching element, and the motor relay switching element in the phase in which the abnormality is detected can be turned off, for example, in order to turn off the current supply to only a predetermined phase in accordance with the abnormality. Alternatively, when the abnormality is detected, the 1 st power supply relay 5a may be turned off to cut off the power supply itself to the 1 st control unit 1 a.
Further, as described above, the 1 st inverter circuit 3a is PWM-driven by the drive signal supplied from the 1 st drive circuit 11a based on the 1 st drive command from the 1 st CPU10a, but switching noise is generated due to on/off of each switching element of the 1 st inverter circuit 3a in the PWM driving. Therefore, in order to suppress the release of the switching noise, the 1 st filter 6a including the filter capacitor Ca and the filter coil CLa is disposed on the input side of the 1 st inverter circuit 3 a.
In addition, the Δ marks of the + B power supply and the ground terminal GND supplied to the 1 st power supply relay 5a and the 1 st filter 6a indicate portions extended from the connection terminals indicated by the good-quality marks, and details of these portions will be described later.
Next, the 2 nd control unit 1b will be explained. The 2 nd control unit 1b includes a 2 nd control circuit unit 4b on which the 2 nd CPU10b is mounted, a 2 nd inverter circuit 3b that supplies current to the 2 nd armature winding 2b of the motor 2, a 2 nd power supply relay 5b, and a 2 nd filter 6 b. The 2 nd control unit 1B is connected to a + B power supply, which is a positive electrode-side terminal of a battery 9 mounted on the vehicle, and a ground terminal GND, which is a negative electrode-side terminal of the battery 9. In the 2 nd control unit 1b, the 2 nd control circuit unit 4b is powered on by the ignition switch 7, and information of a torque sensor for detecting steering torque, a speed sensor for detecting a traveling speed of the vehicle, and the like mounted near a steering wheel of the vehicle, for example, is input from the sensors 8.
The information from the sensors 8 is transmitted to the 2 nd CPU10b via the 2 nd input circuit 12b provided in the 2 nd control circuit unit 4 b. The 2 nd CPU10b calculates a current value, which is a control amount for rotating the motor 2, based on the information thus transmitted, and outputs an output signal corresponding to the calculated value. The output signal from the 2 nd CPU10b is transmitted to the 2 nd drive circuit 11b and the 2 nd inverter circuit 3b constituting the 2 nd output circuit. The 2 nd drive circuit 11b receives the 2 nd command signal, which is an output signal from the 2 nd CPU10b, and outputs a 2 nd drive signal for driving each switching element, which will be described later, of the 2 nd inverter circuit 3 b. Since only a small current flows through the 2 nd drive circuit 11b, it is mounted on the 2 nd control circuit unit 4b in embodiment 1, but it may be disposed in the 2 nd inverter circuit 3 b.
The 2 nd inverter circuit 3b is constituted by a three-phase bridge circuit, and includes: a U-phase bridge arm composed of a U-phase upper bridge arm switching element 31Ub and a U-phase lower bridge arm switching element 32Ub connected in series; a V-phase bridge arm composed of a V-phase upper arm switching element 31Vb and a V-phase lower arm switching element 32Vb connected in series; and a W-phase arm including a W-phase upper arm switching element 31Wb and a W-phase lower arm switching element 32Wb connected in series.
The series connection of the U-phase upper arm switching element 31Ub and the U-phase lower arm switching element 32Ub is connected to the U-phase winding U2 of the 2 nd armature winding 2b via the U-phase motor relay switching element 34 Ub. The series connection portion of the V-phase upper arm switching element 31Vb and the V-phase lower arm switching element 32Vb is connected to the V-phase winding V2 of the 2 nd armature winding 2b via the V-motor relay switching element 34 Vb. The series connection of the W-phase upper arm switching element 31Wb and the W-phase lower arm switching element 32Wb is connected to a W-phase winding W2 of the 2 nd armature winding 2b via a W-phase motor relay switching element 34 Wb.
A U-phase shunt resistor 33Ub for U-phase current detection is connected in series with the U-phase lower arm switching element 32Ub, a V-phase shunt resistor 33Vb for V-phase current detection is connected in series with the V-phase lower arm switching element 32Vb, and a W-phase shunt resistor 33Wb for W-phase current detection is connected in series with the W-phase lower arm switching element 32 Wb.
In the 2 nd inverter circuit 3b, the U-phase noise suppression capacitor 30Ub is connected in parallel to the U-phase arm including the U-phase upper arm switching element 31Ub and the U-phase lower arm switching element 32 Ub. The V-phase noise suppression capacitor 30Vb is connected in parallel to a V-phase arm including a V-phase upper arm switching element 31Vb and a V-phase lower arm switching element 32 Vb. W-phase noise suppression capacitor 30Wb is connected in parallel to a W-phase arm including W-phase upper arm switching element 31Wb and W-phase lower arm switching element 32 Wb.
The potential difference between the two ends of the U-phase shunt resistor 33Ub, the V-phase shunt resistor 33Vb, and the W-phase shunt resistor 33Wb, and the voltage of each winding terminal of the 2 nd armature winding 2b are transmitted to the 2 nd control circuit unit 4b and input to the 2 nd CPU10 b. The 2 nd CPU10b calculates a deviation between a current command value calculated by itself based on the steering torque of the driver or the like and a current detection value calculated based on the potential difference between the both ends of each of the input shunt resistors 33Ub, 33Vb, 33Wb, and supplies a 2 nd drive command, which is set to 0, to the 2 nd drive circuit 11 b.
The 2 nd drive circuit 11b supplies drive signals to the gate electrodes of the U-phase upper arm switching element 31Ub and the U-phase lower arm switching element 32Ub, the V-phase upper arm switching element 31Vb and the V-phase lower arm switching element 32Vb, and the W-phase upper arm switching element 31Wb and the W-phase lower arm switching element 32Wb of the 2 nd inverter circuit 3b based on the 2 nd drive command from the 2 nd CPU10b, and performs PWM control on these switching elements.
Thus, the 2 nd control unit 1b is configured to perform feedback control so that the deviation between the current command value and the current detection value becomes 0, as in the 1 st control unit 1a, thereby supplying a desired motor current to the 2 nd armature winding 2b and causing the motor 2 to generate an assist torque for assisting the steering torque of the driver. .
The 2 nd control unit 1B is provided with a 2 nd power supply relay 5B for turning on/off the power supply from the + B power supply of the battery 9 to the 2 nd inverter circuit 3B. The 2 nd power supply relay 5b is constituted by a switching element Qb for power supply relay. The 2 nd power relay 5b can turn on/off the current supplied to the 2 nd armature winding 2b of the motor 2 by turning on/off the power relay switching element Qb with the drive signal from the 2 nd control circuit unit 4 b.
The U-phase motor relay switching element 34Ub, the V-phase motor relay switching element 34Vb, and the W-phase motor relay switching element 34Wb provided in the 2 nd inverter circuit 3b are turned on and off by the drive signal from the 2 nd control circuit 4b, and thereby the currents supplied from the 2 nd inverter circuit 3b to the U-phase winding U2, the V-phase winding V2, and the W-phase winding W2 of the 2 nd armature winding 2b can be independently turned on and off.
The 2 nd CPU10b has an abnormality detection function of detecting an abnormality in the 2 nd drive circuit 11b, the 2 nd inverter circuit 3b, the 2 nd armature winding 2b, and the like, in addition to the calculation of the current value, which is the control amount for rotating the motor, based on various information such as the steering torque detection value, the vehicle speed, and the like inputted from the sensors 8, and when an abnormality is detected, for example, in order to interrupt the current supply to only a predetermined phase in accordance with the abnormality, the upper arm switching element, the lower arm switching element, and the motor relay switching element in the phase in which the abnormality is detected can be turned off. Alternatively, when the abnormality is detected, the 2 nd power supply relay 5b may be turned off to turn off the power supply itself supplied to the 2 nd control unit 1 b.
Further, as described above, the 2 nd inverter circuit 3b is PWM-driven with the drive signal supplied from the 2 nd drive circuit 11b based on the 2 nd drive instruction from the 2 nd CPU10 b. Switching noise is generated due to on/off of each switching element of the 2 nd inverter circuit 3b in the PWM driving. Therefore, in order to suppress the release of the switching noise, the 2 nd filter 6b including the filter capacitor Cb and the filter coil CLb is disposed on the input side of the 2 nd inverter circuit 3 b.
In addition, the Δ marks of the + B power supply and the ground terminal GND supplied to the 2 nd power supply relay 5B and the 2 nd filter 6B indicate portions extended from the connection terminals indicated by the good-quality marks, and details of these portions will be described later.
As described above, the motor 2 is a brushless motor in which two sets of armature windings, each including the 1 st armature winding 2a and the 2 nd armature winding 2b of three phases, are connected in a delta configuration. Since the brushless motor is used, a 1 st rotation sensor 17a and a 2 nd rotation sensor 17b are mounted to detect the rotational position of the rotor. Thus, two sets of rotation sensors having substantially the same configuration are mounted to ensure redundancy. Information indicating the rotational position of the rotor detected by the 1 st rotation sensor 17a is transmitted to the 1 st control circuit unit 4a and is input to the 1 st input circuit 12 a. Information indicating the rotational position of the rotor detected by the 2 nd rotation sensor 17b is transmitted to the 2 nd control circuit unit 4b and input to the 2 nd input circuit 12 b.
Further, the motor 2 may be a star-connected or two-pole two-pair brush-equipped motor, even if it is not a three-phase delta-connected brushless motor. The armature winding may have any of a distributed winding and a concentrated winding, as the winding specification of the conventional device. Further, a so-called tandem motor having two stators is also possible. In this case, only 1 set of armature windings may be provided, or two sets of armature windings may be provided and driven by the linkage of the armature windings, and in short, any configuration may be used as long as it can output a desired motor rotation speed and torque.
The notification unit 15 is configured to be able to turn on a lamp, for example, and configured to notify the driver of the abnormality by performing an operation such as turning on the lamp based on the alarm signal output from the 1 st CPU10a via the 1 st output circuit 16a when the 1 st CPU10a detects the abnormality, or by performing an operation such as turning on the lamp based on the alarm signal output from the 2 nd CPU10b via the 2 nd output circuit 16b when the 2 nd CPU10b detects the abnormality.
As described above, the 1 st control unit 1a and the 2 nd control unit 1b adopt the following configurations: the motors 2 can be independently driven by independently using the input information and the calculated value of the control amount. Further, the 1 st control unit 1a and the 2 nd control unit 1b are connected to each other by a communication line 14 so that data and information on the other side can be exchanged. The 1 st CPU10a and the 2 nd CPU10b are connected to each other via the communication line 14, and the status of each other can be grasped. For example, when the 1 st CPU10a detects the abnormality and turns off the predetermined switching element as a result, the contents of the abnormality detection, the abnormal component, the contents of the motor driving, and the like can be transmitted to the 2 nd CPU10 b. If an abnormality occurs in a CPU itself, it is assumed that a regular communication signal of a predetermined format cannot be exchanged, and one CPU can also detect an abnormality occurring in the other CPU itself.
Next, the structure of the electric power steering apparatus according to embodiment 1 of the present invention will be described. Fig. 2 is a sectional view of an electric power steering apparatus according to embodiment 1 of the present invention. In fig. 2, a lower portion in the drawing is a motor 2, and a control unit 1 including the above-described 1 st control unit and 2 nd control unit is disposed in an upper portion of the motor 2. The motor 2 and the control unit 1 are coaxially and axially integrated with the motor output shaft 21 via a frame 28 described later.
The motor 2 includes a motor case 25 having a substantially cylindrical shape. The motor case 25 is closed at the lowermost portion in the figure by a wall portion extending perpendicularly to the axial direction, and is open at the uppermost portion in the figure. The wall portion of the motor case 25 is connected to a case (not shown) of the reduction mechanism portion. The motor output shaft 21 is rotatably supported by a bearing member provided on a wall portion of the motor housing 25, penetrates the wall portion of the motor housing 25, and is coupled to an input shaft of a speed reduction mechanism portion, not shown.
Inside the motor case 25 are disposed: a rotor 23 having a plurality of pairs of field poles each formed of a permanent magnet; and a stator 22, the stator 22 having an inner peripheral surface facing the outer peripheral surface of the rotor 23 with a gap therebetween. The rotor 23 is fixed to the outer peripheral surface of the motor output shaft 21. The armature winding 24 is inserted into a slot provided in the stator 22, and the armature winding 24 is composed of the 1 st armature winding 2a (not shown) of the three phases and the 2 nd armature winding 2b (not shown) of the three phases.
An annular connection ring 27 fixed to the stator 22 is disposed axially near one end of the armature winding 24 in the axial direction. As described above, the 1 st armature winding and the 2 nd armature winding constituting the armature winding 24 include the U-phase winding, the V-phase winding, and the W-phase winding, respectively. The U-phase winding, the V-phase winding, and the W-phase winding of the 1 st armature winding of the armature windings 24 are delta-connected by a connection ring 27, and 3 1 st winding ends 26a connected to the respective phase windings are led out from the connection ring 27 in the axial direction of the motor 2 and extend into the control unit 1. Similarly, the U-phase winding, the V-phase winding, and the W-phase winding of the 2 nd armature winding of the armature windings 24 are delta-connected by the connection ring 27, and 3 2 nd winding end portions 26b connected to the respective phase windings are led out from the connection ring 27 in the axial direction of the motor 2 and extend into the control unit 1.
The metal frame 28 is coupled to the opening of the motor case 25, closes the opening of the motor case 25, and rotatably supports the motor output shaft 21 by a bearing member. The motor output shaft 21 axially penetrates the frame 28 and extends to the inside of a casing 40 that covers the control unit 1. The frame 28 has through holes (not shown) for passing the 1 st winding overhang 26a in the axial direction and through holes (not shown) for passing the 2 nd winding overhang 26b in the axial direction at positions near the peripheral edge portions facing each other across the axial center, and these through holes are passed through the 1 st winding overhang 26a and the 2 nd winding overhang 26b, respectively.
The control unit 1 is covered with a resin case 40, and a control substrate 4, a 1 st inverter circuit 3a, a 2 nd inverter circuit 3b, and the like constituting the 1 st control circuit portion 4a and the 2 nd control circuit portion 4b shown in fig. 1 are built in the case. The upper portion of the housing 40 in the drawing, that is, the axial end surface includes a convex 1 st filter chamber 41a protruding in the axial direction and a convex 2 nd filter chamber 41b protruding in the axial direction. The 1 st filter chamber 41a accommodates a power relay switching element Qa (not shown) constituting the 1 st power relay 5a, a filter capacitor Ca (not shown) constituting the 1 st filter 6a, and a filter coil CLa. The 2 nd filter chamber 41b accommodates therein a power relay switching element Qb (not shown) constituting the 2 nd power relay 5b, and a filter capacitor Cb (not shown) and a filter coil CLb constituting the 2 nd filter 6 b.
As shown in fig. 4, which will be described later, a power supply connector 42 is disposed on the peripheral edge of the housing 40 in the vicinity of the 1 st and 2 nd filter chambers 41a and 41b on the axial end surface of the housing 40, and a 1 st and 2 nd signal connectors 43a and 43b from the sensors 8 are disposed at positions away from the power supply connector 42. The housing 40, the 1 st filter chamber 41a, the 2 nd filter chamber 41b, the power supply connector 42, the 1 st signal connector 43a, and the 2 nd signal connector 43b are formed of resin, and the whole or a part thereof is formed integrally.
The control board 4 mounts circuit components constituting the 1 st control circuit unit 4a and the 2 nd control circuit unit 4 b. That is, the 1 st CPU10 and the 2 nd CPU10b are mounted on the upper surface of the control board 4 in the drawing, that is, the surface on the opposite motor side, and the 1 st drive circuit 11a and the 2 nd drive circuit 11b and the like are mounted on the lower surface of the control board 4 in the drawing, that is, the surface on the motor side.
The 1 st inverter circuit 3a is configured as a 1 st power module obtained by integrally molding, with a resin, the following portions: u-phase upper arm switching element 31Ua, V-phase upper arm switching element 31Va, W-phase upper arm switching element 31Wa, U-phase lower arm switching element 32Ua, V-phase lower arm switching element 32Va, W-phase lower arm switching element 32 Wa; a U-phase motor relay switching element 34Ua, a V-phase motor relay switching element 34Va, and a W-phase motor relay switching element 34 Wa; u-phase noise suppression capacitor 30Ua, V-phase noise suppression capacitor 30Va, W-phase noise suppression capacitor 30 Wa; and U-phase shunt resistor 33Ua, V-phase shunt resistor 33Va, and W-phase shunt resistor 33 Wa.
The 2 nd inverter circuit 3b is configured as a 2 nd power module obtained by integrally molding, with a resin, the following portions: a U-phase upper arm switching element 31Ub, a V-phase upper arm switching element 31Vb, a W-phase upper arm switching element 31Wb, a U-phase lower arm switching element 32Ub, a V-phase lower arm switching element 32Vb, a W-phase lower arm switching element 32 Wb; a U-phase motor relay switching element 34Ub, a V-phase motor relay switching element 34Vb, and a W-phase motor relay switching element 34 Wb; a U-phase noise suppression capacitor 30Ub, a V-phase noise suppression capacitor 30Vb, and a W-phase noise suppression capacitor 30 Wb; and U-phase shunt resistor 33Ub, V-phase shunt resistor 33Vb, W-phase shunt resistor 33 Wb.
The 1 st inverter circuit 3a as the 1 st power module and the 2 nd inverter circuit 3b as the 2 nd power module are mounted on the resin intermediate frame 401, and are driven to generate heat, respectively, so that they are in contact with the surface of the frame 28 on the control unit side and can transfer heat to the metal frame 28. That is, the frame 28 also functions as a heat sink. The 1 st winding end portion 26a is connected to an output terminal of the 1 st inverter circuit 3a as the 1 st power module. The 2 nd winding end portion 26b is connected to an output terminal of the 2 nd inverter circuit 3b as the 2 nd power module.
Next, the circuit configuration of the periphery such as the power supply relay and the filter in the control unit will be described in detail. In the following description, the 1 st control unit 1a is described, but the 2 nd control unit 1b has the same configuration. Fig. 3 is a detailed circuit diagram of a part of the electric power steering apparatus according to embodiment 1 of the present invention, and is a diagram showing in detail a circuit configuration of a part of the 1 st control unit 1a shown in fig. 1. In fig. 3, the + B power supply connected to the positive electrode side electrode of the battery 9 is connected to the electric power steering apparatus via a connection terminal indicated by a good symbol in the figure, and is branched into the 1 st control unit 1a and the second control unit 1B at a branch point indicated by a Δ symbol in the figure.
In the 1 st control unit 1a, a2 nd branch point following the branch point indicated by the Δ sign is branched into a1 st detection circuit 36a and a1 st power supply relay 5a, which will be described later. As shown in fig. 3, the 1 st power relay 5a is configured by connecting in series power relay switching elements Qa1, Qa2 in which the directions of the parallel-connected diodes are opposite. The power relay switching element Qa in the 1 st power relay 5a shown in fig. 1 is described as an element including the power relay switching elements Qa1 and Qa2 shown in fig. 3.
As described above, since the power relay switching elements Qa1 and Qa2 in the 1 st power relay 5a are connected in series so that the direction of the parallel-connected diodes is reversed, the direction in which the current flows is determined, and for example, no current flows even when the positive electrode side and the negative electrode side of the battery 9 are reversely connected. As described above, when some abnormality occurs, the power supply can be disconnected based on the instruction from the 1 st CPU10 a.
The electric power steering apparatus according to embodiment 1 of the present invention includes a power relay drive circuit 35a including resistors R1, R2, and R3 and transistors T1 and T2 for driving the power relay switching elements Qa1 and Qa2 in the 1 st power relay 5 a. In the power relay drive circuit 35a, the emitter of the transistor T1 is connected to the power source denoted by ^ mark in the 1 st control unit 1a, and the collector is connected to the series connection point of the resistor R1 and the resistor R4.
One end of the resistor R1 is connected to the gate electrodes of the power relay switching elements Q1 and Q2, respectively. The base of the transistor T1 is connected to the collector of the transistor T2 via a resistor R2. The emitter of the transistor T2 is connected to the ground level, and the base electrode is connected to the 1 st control circuit unit 4a via the resistor R3. The voltage across the resistor R5 is input to the 1 st control circuit unit 4 a. The transistor T2 is on/off controlled by a drive signal from the first control circuit section 4a based on a command from the 1 st CPU10a, and the transistor T1 is on/off controlled based on the on/off of the transistor T2.
Further, the power source v to be connected to the emitter of the transistor T1 is a higher potential power source than the + B power source connected to the positive electrode side electrode of the battery 9, and thus the power relay switching elements Qa1 and Qa2 can be turned on. The resistors R4 and R5 are voltage dividing resistors for a monitor, and are configured to be able to detect the on states of the transistors T1 and T2 by the 1 st control circuit unit 4 a.
A1 st filter 6a including a smoothing capacitor Ca, a smoothing coil CLa, and the like is connected to the downstream side of the 1 st power supply relay 5a, and a1 st inverter circuit 3a is connected to the downstream side of the first filter 6 a. The potential at the connection point between the 1 st filter 6a and the 1 st inverter circuit 3a is detected by the 2 nd detection circuit 13a, input to the 1 st control circuit unit 4a, and the voltage thereof is monitored by the 1 st control circuit unit 4 a. When the 1 st power relay 5a is turned on and the 2 nd detection circuit 13a cannot detect the voltage corresponding to the output voltage of the battery 9, the 1 st CPU10a may determine that there is a possibility of a ground fault occurring on the upstream side of the 1 st inverter circuit 3a in the 1 st control unit 1a based on the voltage monitored by the resistors R4 and R5 and the voltage from the 2 nd detection circuit 13 a.
The 3 rd detection circuit 18U detects a current flowing through the U-phase lower arm in the 1 st inverter circuit 3a and inputs the current to the 1 st control circuit unit 4a, and the 4 th detection circuit 19U detects a terminal voltage of the U-phase winding U1 of the 1 st armature winding 2a and inputs the terminal voltage to the 1 st control circuit unit 4 a. The currents flowing through the V-phase lower arm and the W-phase lower arm in the 1 st inverter circuit 3a are also detected by the same detection circuit as the 3 rd detection circuit 18u and input to the 1 st control circuit unit 4 a. The terminal voltages of the V-phase winding V1 and the W-phase winding W1 of the 1 st armature winding 2a are also detected by the same detection circuit as the 4 th detection circuit and input to the 1 st control circuit unit 4 a. The 1 st control circuit unit 4a monitors the input current of the lower arm of each phase and the voltage of each winding terminal of the 1 st armature winding 2a of the motor 2, detects a short-circuit fault or a ground fault of each switching element in the 1 st inverter circuit 3a, the 1 st armature winding 2a of the motor 2, and the like, and can turn off the 1 st power relay 5a according to the contents of these faults.
The current detection circuits of the respective phases such as the power relay drive circuit 35a, the 2 nd detection circuit 13a, the 3 rd detection circuit 18u, and the winding terminal voltage detection circuit such as the 4 th detection circuit 19u are preferably provided in all of the three-phase two-group set constituted by the 1 st control unit 1a and the 2 nd control unit 1 b.
The voltage or current monitored by each of the above-described detection circuits is transmitted to the 1 st CPU10a in the 1 st control circuit unit 4 a. The 1 st CPU10a determines whether or not there is an abnormality by grasping the contents of the monitor voltage or the monitor current based on its own control command. That is, even when a predetermined current flows through the motor 2, the 1 st CPU10a can determine that the voltage is abnormal when the voltage cannot be detected by the 3 rd detection circuit 18u or when a voltage other than the predetermined current is generated. Further, since the terminal voltages of the respective phases of the motor 2 are monitored by the detection circuits of the respective phases such as the 4 th detection circuit 19u, the 1 st CPU10a can determine that there is an abnormality when no voltage is generated even when the motor 2 is driven or when a voltage is generated when the motor 2 is not driven. When the above abnormality occurs, the 1 st CPU10a outputs a control instruction to the 1 st drive circuit 11a to turn off the 1 st power supply relay 5 a. Further, when the above abnormality occurs, the 1 st CPU10a can also stop the power supply circuit I2.
The other branch of the + B power supply line of the battery 9 is connected to a power supply and a control command circuit thereof for turning on the 1 st power supply relay 5a through which a small current flows. Therefore, a fault may occur in the circuit network, and it is necessary to turn off the power supply relay when an overcurrent flows due to the fault. Therefore, the 1 st detection circuit 36a is provided. As shown in fig. 3, the 1 st detection circuit 36a is constituted by: resistors R6, R7 and R9, wherein one ends of the resistors R6, R7 and R9 are connected with a branch point of the + B power supply; a transistor T3, an emitter of the transistor T3 being connected to the other end of the resistor R9, and a collector being connected to the ground level via the resistor R11; a resistor R8, one end of the resistor R8 being connected to the other end of the resistor R9; and an amplifier I1, one input terminal of the amplifier I1 is connected to the other ends of the resistors R7 and R8, the other input terminal is connected to the other end of the resistor R6, and the output terminal is connected to the base of the transistor T3 via the resistor R10.
The 1 st detection circuit 36a basically operates by amplifying the potential difference generated by the current flowing through the resistor R6 by the amplifier I1, and the 1 st CPU10a monitors whether or not the value amplified by the 1 st detection circuit 36a falls within a predetermined range.
The 1 st control circuit unit 4a is provided with a 1 st power supply circuit 12, the 1 st power supply circuit 12 including a circuit (not shown) including a capacitor and a diode, and a circuit (not shown) including a transistor, and an input terminal of the 1 st power supply circuit 12 is connected to the other input terminal of the amplifier I1. The output terminal of the 1 st power supply circuit 12 is connected to the 1 st CPU10 a.
As described above, the 1 st CPU10a monitors whether or not the value amplified by the 1 st detection circuit 36a falls within a predetermined range, the setting of which is determined by the current value consumed by the 1 st detection circuit 36a, the 1 st power supply circuit I2, and the like. If the 1 st detection circuit 36a detects that an overcurrent flows through the resistor R6, in this case, since an abnormality occurs in the 1 st detection circuit 36a, the 1 st power supply circuit I2, or the like, the 1 st CPU10a takes measures to stop the 1 st power supply circuit I2, for example, to prevent an overcurrent, in addition to outputting the overcurrent so as to shut off the 1 st power supply relay 5 a.
The 1 st power supply circuit I2 generates a high voltage indicated by a ∑ mark and a voltage lower than the battery voltage and serving as a power supply for a circuit to be directly driven by the battery. The 1 st power supply circuit I2 is configured by, for example, a charge pump circuit, has a circuit (not shown) configured by a capacitor and a diode, and further has a circuit (not shown) including a transistor having a function of a constant power supply used in the 1 st CPU10 a. Therefore, even when the ignition switch 7 is not turned on, the 1 st CPU10a can execute its function.
As described above, the plurality of circuit networks are formed around the power supply relay, and the plurality of circuit networks are provided in the 1 st control unit 1a and the 2 nd control unit 1b, respectively, and two sets exist as a whole. In consideration of redundancy, each circuit is configured by a dual system after being connected to a device, and it is necessary to perform disconnection when an abnormality occurs in one of the circuits so as not to affect the other circuit. Therefore, the filter and the inverter circuit are connected first via the power supply relay and then. For example, in the case where a short-circuit fault occurs in the capacitor of the filter, since the fault portion is located downstream of the power supply relay, by turning off the power supply relay, the normal system is not affected. In addition, when an overcurrent flows through the 2 nd drive circuit and the 1 st detection circuit 36a as in the case of a ground fault, the connection is made with a fine pattern such as a wiring pattern that can be cut off by the current, and a large current can be prevented from flowing.
Next, the arrangement and connection structure of the 1 st power supply relay 5a, the 2 nd power supply relay 5b, the 1 st filter 6a, the 2 nd filter 6b, the power supply relay drive circuit 35a, and the 1 st detection circuit 36a shown in fig. 1 and 3 will be described. Fig. 4 is a plan view showing a detailed configuration of a part of the electric power steering apparatus according to embodiment 1 of the present invention, and shows an internal configuration of the power supply connector 42, the 1 st signal connector 43a, the 2 nd signal connector 43b, the 1 st filter chamber 41a, the 2 nd filter chamber 41b, and the like, from which a configuration of an upper surface portion of the housing 40 is removed.
In fig. 4, an insulating member 50 formed of resin is buried or mounted in an inner surface portion of the housing 40 including a counter motor side surface, i.e., a1 st surface, and a motor side surface, i.e., a2 nd surface, as shown in fig. 2. The 1 st surface and the 2 nd surface of the insulating member 50 are in a front-back surface relationship with each other. The power supply terminal 44a of the power supply connector 42 is provided on the 1 st surface of the insulating member 50, and is connected to a + B power supply connected to the positive electrode-side terminal of the battery 9. The power supply terminal 44b of the power supply connector 42 is provided on the No. 2 surface of the insulating member 50 and connected to the ground terminal GND.
The 1 st power supply relay 5a and the 2 nd power supply relay 5b are arranged side by side in the up-down direction of fig. 4, and are fixed to the 1 st surface of the insulating member 50. The pair of power relay switching elements Qa1 and Qa2 in the 1 st power relay 5a are arranged side by side in the left-right direction of fig. 4, and are arranged in the opposite direction to each other in the up-down direction. The pair of power relay switching elements Qb1, Qb2 in the 2 nd power relay 5b are arranged side by side in the left-right direction in fig. 4, and are arranged in the opposite direction to each other in the up-down direction. The 1 st power supply relay 5a and the 2 nd power supply relay 5b have the same configuration.
The 1 st filter 6a and the 2 nd filter 6b are disposed on the side of a terminal unit 46 described later with respect to the 1 st power supply relay 5a and the 2 nd power supply relay 5 b. The 1 st filter 6a and the 2 nd filter 6b are arranged side by side in the vertical direction of fig. 4, and are fixed to the 1 st surface of the insulating member 50. The filter capacitor Ca and the filter coil CLa of the 1 st filter 6a are arranged in the left-right direction of fig. 4, and similarly, the filter capacitor Cb and the filter coil CLb of the 2 nd filter 6b are arranged in the left-right direction of fig. 4. The positive electrode-side terminals of the filter capacitor Ca and the filter capacitor Cb are both disposed on the lower side in fig. 4. The 1 st filter 6a and the 2 nd filter 6b have the same configuration.
The conductive member 701, which is a bus bar connected to the power supply terminal 44a, is disposed on the 1 st surface of the insulating member 50, and is symmetrically branched into a1 st portion 701a and a2 nd portion 701b in the vicinity of the power supply terminal 44 a. The branched 1 st portion 701a is connected to the power relay switching elements Qa1 and Qa2 of the 1 st power relay 5a in the 1 st control unit 1 a. The branched 2 nd part 701b is connected to the power relay switching elements Qb1 and Qb2 of the 2 nd power relay 5b in the 2 nd control unit 1 b.
The conductive member 702a as a bus bar disposed on the 1 st surface of the insulating member 50 is connected to the power relay switching elements Qa1 and Qa2 of the 1 st power relay 5a, and to the positive electrode terminal of the smoothing capacitor Ca of the 1 st filter 6a and one end of the smoothing coil CLa. The conductive member 702b as a bus bar disposed on the 1 st surface of the insulating member 50 is connected to the power relay switching elements Qb1 and Qb2 of the 2 nd power relay 5b, and to the positive electrode side terminal of the smoothing capacitor Cb of the 2 nd filter 6b and one end of the smoothing coil CLb.
The terminal portion 46 includes a1 st positive electrode-side terminal 46a1 and a2 nd positive electrode-side terminal 46b1, and a1 st negative electrode-side terminal 46a2 and a2 nd negative electrode-side terminal 46b2, which are provided on the 1 st surface of the insulating member 50, and are arranged in the order of the 1 st negative electrode-side terminal 46a2, the 1 st positive electrode-side terminal 46a1, the 2 nd negative electrode-side terminal 46b2, and the 2 nd positive electrode-side terminal 46b1 in the top-down direction of fig. 4. As shown in fig. 2, these terminals extend to the 1 st power module including the 1 st inverter circuit 3a and the 2 nd power module including the 2 nd inverter circuit 3b mounted on the middle frame 401 via the control board 4, respectively.
The 1 st positive electrode-side terminal 46a1 is connected to the positive electrode-side dc terminal of the 1 st inverter circuit 3a, the 1 st negative electrode-side terminal 46a2 is connected to the negative electrode-side dc terminal of the 1 st inverter circuit 3a, the 2 nd positive electrode-side terminal 46b1 is connected to the positive electrode-side dc terminal of the 2 nd inverter circuit 3b, and the 2 nd negative electrode-side terminal 46b2 is connected to the negative electrode-side dc terminal of the 2 nd inverter circuit 3 b.
In fig. 4, the conductive member 703a as a bus bar disposed on the 1 st surface of the insulating member 50 is connected to the other end of the filter coil CLa in the 1 st filter 6a and the 1 st positive electrode-side terminal 46a1 of the terminal portion 46. The conductive member 703b as a bus bar disposed on the 1 st surface of the insulating member 50 is connected to the other end of the filter coil CLb in the 2 nd filter 6b and the 2 nd positive electrode side terminal 46b1 of the terminal portion 46.
The conductive member 704 connected to the power terminal 44b in the power supply connector 42 is disposed on the 2 nd surface of the insulating member 50, and branches into the 1 st portion 704a and the 2 nd portion 704 b. The conductive member 705a disposed on the 1 st surface of the insulating member 50 is electrically connected to the 1 st portion 704a of the conductive member 704 disposed on the 2 nd surface of the insulating member 50, and the negative electrode-side terminal of the filter capacitor Ca in the 1 st filter 6a is connected to the 1 st negative electrode-side terminal 46a2 of the terminal unit 46. The conductive member 705b disposed on the 1 st surface of the insulating member 50 is electrically connected to the 2 nd portion 704b of the conductive member 704 disposed on the 2 nd surface of the insulating member 50, and the negative-electrode-side terminal of the filter capacitor Cb in the 2 nd filter 6b is connected to the 2 nd negative-electrode-side terminal 46b2 of the terminal unit 46.
Although a part of the 2 nd portion 704b of the conductive member 704 and a part of the conductive member 702a overlap in the vertical direction with respect to the paper surface of fig. 4, the conductive member 704 is disposed on the 2 nd surface of the insulating member 50 and the conductive member 702a is disposed on the 1 st surface of the insulating member 50 as described above, and therefore do not contact each other.
As shown in fig. 4, the 1 st control unit 1a and the 2 nd power supply relay 5b, and the 1 st filter 6a and the 2 nd filter 6b in the 2 nd control unit 1b, which are configured as two systems, are symmetrically disposed in the same direction by the same member, respectively, oppositely, and are connected to the respective conductive members, respectively, but the widths, lengths, and the like of the respective conductive members are configured to be as identical as possible so that no difference occurs in, for example, inductance, impedance between the two systems.
In addition, a wiring substrate provided with a wiring pattern by printed wiring or the like may be used instead of the insulating member 50. When this wiring board is used, the switching elements Qa1, Qa2, Qb1, and Qb2 of the 1 st power supply relay 5a and the 2 nd power supply relay 5b and the filter capacitors Ca and Cb and the filter coils CLa and CLb of the 1 st filter 6a and the 2 nd filter 6b are mounted on the wiring board, respectively, and are connected to each other by a wiring pattern provided on the wiring board.
In addition to the conductive member 701 having a wide width as the bus bar, the power supply terminal 44a of the power supply connector 42 may be connected to the 1 st wiring pattern 801a and the 2 nd wiring pattern 801b having a narrow width for a small current. Since the wiring patterns 801a and 801b are connected to the power supply terminal 44a, the 1 st wiring pattern 801a and the 2 nd wiring pattern 801b are provided so as to branch from the power supply terminal 44 a. The 1 st wiring pattern 801a and the 2 nd wiring pattern 801b are provided on one surface of the insulating member 50, similarly to the conductive members 701, 702a, 702b, 703a, 703b, 705a, and 705b as the bus bars described above. In addition, ordinary leads may be used instead of the 1 st wiring pattern 801a and the 2 nd wiring pattern 801 b.
The 1 st wiring pattern 801a branched from the power supply terminal 44a is connected to the 1 st circuit unit 51 a. The 1 st circuit unit 51a includes the power supply relay drive circuit 35a shown in fig. 3 and the 1 st detection circuit 36a having the current detection resistor R6 in the 1 st control unit 1a, and the like. The 2 nd wiring pattern 801b branched from the power supply terminal 44a is connected to the 2 nd circuit unit 51 b. The 2 nd circuit unit 51b includes a power supply relay drive circuit (not shown) of the 2 nd control unit 1b, a 1 st detection circuit (not shown) having a current detection resistor R6, and the like.
As shown in fig. 4, a part of the 1 st wiring pattern 801a and a part of the 2 nd wiring pattern 801b are provided with a fine pattern portion that can be fused by an overcurrent equal to or larger than a predetermined value, and an excessive current equal to or larger than the predetermined value can be prevented from flowing when a ground fault occurs in the power relay drive circuit 35a and the detection circuits in the 1 st control unit 1a and the 2 nd control unit 1 b.
The insulating member 50 includes a plurality of 1 st through holes 52a formed near the 1 st circuit portion 51a and a plurality of 2 nd through holes 52b formed near the 2 nd circuit portion 51 b. As shown in fig. 2, the 1 st through hole 52a is connected to a lead 521a connected to the 1 st CPU10a mounted on the control board 4, and the 2 nd through hole 52b is connected to a lead 521b connected to the 2 nd CPU10b mounted on the control board 4. The signal line from the 1 st signal connector 43a is connected to the 1 st power module having the 1 st inverter circuit 3a via the middle frame 401 as shown in fig. 2. The signal line from the 2 nd signal connector 43b is connected to the 2 nd power module having the 2 nd inverter circuit 3b via the middle frame 401 as shown in fig. 2.
As described above, the power supply system line provided by the power supply connector 42 provided on the upper surface portion of the housing 40 of the control unit 1 is branched into the 1 st part 701a and the 2 nd part 701b by the conductive member 701 which is two thick bus bars, and further branched into the 2 1 st wiring patterns 801a and the 2 nd wiring patterns 801b which are thin. The branched system of the 1 st part 701a of the conductive member 701 as the bus bar is connected to the 1 st power supply relay 5a, the 1 st filter 6a, and the like in the 1 st control unit 1a, and the system of the 2 nd part 701b of the conductive member 701 is connected to the 2 nd power supply relay 5b, the 2 nd filter 6b, and the like in the 2 nd control unit 1 b.
With the above configuration, the 1 st power supply relay 5a and the 2 nd power supply relay 5B are disposed at the most upstream position of the + B power supply connected to the power supply connector 42 of the electric power steering apparatus, and the power supply can be shut off for a failure occurring on the downstream side of these power supply relays. In addition, since only 1 power supply connector 42 is provided instead of 2 power supply connectors, redundancy of the control unit can be ensured. Further, the 1 st filter 6a and the 2 nd filter 6b can be disposed close to the 1 st inverter circuit 3a and the 2 nd inverter circuit 3b, which are noise generating portions, and noise generated by the inverter circuits can be effectively released. Further, since the components such as the filter capacitors Ca and Cb and the filter coils CLa and CLb constituting the 1 st filter 6a and the 2 nd filter 6b are disposed in a concentrated manner in the 1 st filter chamber 41a and the 2 nd filter chamber 41b which are protruded in the axial direction, the device can be downsized.
Further, since the 1 st power supply relay 5a, the 2 nd power supply relay 5b, the 1 st filter 6a, the 2 nd filter 6b, the 1 st circuit unit 51a, and the 2 nd circuit unit 51b are collectively arranged on the upper surface portion of the housing 40, and the control substrate 4, the 1 st inverter circuit 3a, and the 2 nd inverter circuit 3b are arranged inside the housing 40, the 1 st power supply relay 5a, the 2 nd power supply relay 5b, the 1 st filter 6a, the 2 nd filter 6b, the 1 st circuit unit 51a, and the 2 nd circuit unit 51b can be independently designed without being affected by the control substrate 4, the 1 st inverter circuit 3a, and the 2 nd inverter circuit unit 3b, and can contribute to downsizing of the device. Further, the 1 st power supply relay 5a, the 2 nd power supply relay 5b, the 1 st filter 6a, the 2 nd filter 6b, the 1 st circuit unit 51a, and the 2 nd circuit unit 51b disposed on the upper surface portion of the housing 40, and the control board 4, the 1 st inverter circuit 3a, the 2 nd inverter circuit 3b, and the like disposed inside the housing 40 are arranged in consideration of the arrangement of their respective terminals so as to facilitate connection.
Embodiment mode 2
Next, an electric power steering apparatus according to embodiment 2 of the present invention will be described. Fig. 5 is a plan view showing a detailed configuration of a part of an electric power steering apparatus according to embodiment 2 of the present invention. Fig. 5 is a plan view corresponding to fig. 4 in embodiment 1, and the same reference numerals as in fig. 4 denote the same or corresponding parts. Fig. 1 to 3 are also applicable to embodiment 2 of the present invention.
In fig. 5, the components are arranged substantially in line symmetry. The arrangement directions of the power relay switching elements Qa1 and Qa2 of the 1 st power relay 5a, the power relay switching elements Qb1 and Qb2 of the 2 nd power relay 5b, and the smoothing capacitor Cb of the 2 nd filter 6b are different from those in embodiment 1, and the arrangement order of the 1 st positive electrode-side terminal 46a1, the 1 st negative electrode-side terminal 46a2, the 2 nd positive electrode-side terminal 46b1, and the 2 nd negative electrode-side terminal 46b2 in the terminal portion 46 is also different from that in embodiment 1. The shape and arrangement of each conductive member also include portions different from those in embodiment 1. In embodiment 2, the conductive members connected to the power supply terminal 44b of the power supply connector 42 are branched into 2, and after the branching, the conductive members are further branched into 2 ground lines having a narrow width.
Hereinafter, the electric power steering apparatus according to embodiment 2 will be described in detail. In fig. 5, an insulating member 50 formed of resin is buried or mounted in an inner surface portion of the housing 40 including a counter motor side surface, i.e., a1 st surface, and a motor side surface, i.e., a2 nd surface, as shown in fig. 2. The 1 st surface and the 2 nd surface of the insulating member 50 are in a front-back surface relationship with each other. The power supply terminal 44a of the power supply connector 42 is provided on the 1 st surface of the insulating member 50, and is connected to a + B power supply connected to the positive electrode-side terminal of the battery 9. The power supply terminal 44b of the power supply connector 42 is provided on the No. 2 surface of the insulating member 50 and connected to the ground terminal GND.
The 1 st power supply relay 5a and the 2 nd power supply relay 5b are arranged side by side in the up-down direction of fig. 5, and are fixed to the 1 st surface of the insulating member 50. The pair of power relay switching elements Qa1, Qa2 in the 1 st power relay 5a are arranged side by side in the left-right direction of fig. 5, and are arranged in the opposite direction to each other in the left-right direction. The pair of power relay switching elements Qb1, Qb2 in the 2 nd power relay 5b are arranged side by side in the left-right direction of fig. 5, and are arranged in the opposite direction to each other in the left-right direction. The 1 st power supply relay 5a and the 2 nd power supply relay 5b have the same configuration.
The 1 st filter 6a and the 2 nd filter 6b are disposed on the terminal portion 46 side with respect to the 1 st power supply relay 5a and the 2 nd power supply relay 5 b. The 1 st filter 6a and the 2 nd filter 6b are arranged side by side in the vertical direction of fig. 5, and are fixed to the 1 st surface of the insulating member 50. The filter capacitor Ca and the filter coil CLa of the 1 st filter 6a are arranged in the left-right direction of fig. 5, and similarly, the filter capacitor Cb and the filter coil CLb of the 2 nd filter 6b are arranged in the left-right direction of fig. 5. The positive-side terminal of the filter capacitor Ca of the 1 st filter 6a is arranged at the lower side in fig. 5, whereas the positive-side terminal of the filter capacitor Cb of the 2 nd filter 6b is arranged at the upper side in fig. 5.
The conductive member 701, which is a bus bar connected to the power supply terminal 44a, is disposed on the 1 st surface of the insulating member 50, and is symmetrically branched into a1 st portion 701a and a2 nd portion 701b in the vicinity of the power supply terminal 44 a. The branched 1 st portion 701a is connected to the power relay switching elements Qa1 and Qa2 of the 1 st power relay 5a in the 1 st control unit 1 a. The branched 2 nd part 701b is connected to the power relay switching elements Qb1 and Qb2 of the 2 nd power relay 5b in the 2 nd control unit 1 b.
The conductive member 702a as a bus bar disposed on the 1 st surface of the insulating member 50 is connected to the power relay switching elements Qa1 and Qa2 of the 1 st power relay 5a, and to the positive electrode terminal of the smoothing capacitor Ca of the 1 st filter 6a and one end of the smoothing coil CLa. The conductive member 702b as a bus bar disposed on the 1 st surface of the insulating member 50 is connected to the power relay switching elements Qb1 and Qb2 of the 2 nd power relay 5b, and to the positive electrode side terminal of the smoothing capacitor Cb of the 2 nd filter 6b and one end of the smoothing coil CLb.
Here, the conductive member 702b is bent upward as shown in the drawing, is connected to the positive-side terminal of the filter capacitor Cb of the 2 nd filter 6b, and has a shape reverse to the shape of the conductive member 702b in embodiment 1 bent downward. This is because the position of the positive electrode-side terminal of the filter capacitor Cb is inverted between embodiments 1 and 2.
The terminal portion 46 includes a1 st positive electrode-side terminal 46a1 and a2 nd positive electrode-side terminal 46b1, and a1 st negative electrode-side terminal 46a2 and a2 nd negative electrode-side terminal 46b2, which are provided on the 1 st surface of the insulating member 50, and are arranged in the order of the 1 st negative electrode-side terminal 46a2, the 1 st positive electrode-side terminal 46a1, the 2 nd positive electrode-side terminal 46b1, and the 2 nd negative electrode-side terminal 46b2 in the top-down direction of fig. 5. In embodiment 2, the order of arrangement of the 2 nd positive electrode-side terminal 46b1 and the 2 nd negative electrode-side terminal 46b2 is reversed. As shown in fig. 2, these terminals extend to the 1 st power module including the 1 st inverter circuit 3a and the 2 nd power module including the 2 nd inverter circuit 3b mounted on the middle frame 401 via the control board 4, respectively.
The 1 st positive electrode-side terminal 46a1 is connected to the positive electrode-side dc terminal of the 1 st inverter circuit 3a, the 1 st negative electrode-side terminal 46a2 is connected to the negative electrode-side dc terminal of the 1 st inverter circuit 3a, the 2 nd positive electrode-side terminal 46b1 is connected to the positive electrode-side dc terminal of the 2 nd inverter circuit 3b, and the 2 nd negative electrode-side terminal 46b2 is connected to the negative electrode-side dc terminal of the 2 nd inverter circuit 3 b.
In fig. 5, the conductive member 703a as a bus bar disposed on the 1 st surface of the insulating member 50 is connected to the other end of the filter coil CLa in the 1 st filter 6a and the 1 st positive electrode-side terminal 46a1 of the terminal portion 46. The conductive member 703b as a bus bar disposed on the 1 st surface of the insulating member 50 is connected to the other end of the filter coil CLb in the 2 nd filter 6b and the 2 nd positive electrode side terminal 46b1 of the terminal portion 46. The conductive member 703a and the conductive member 703b disposed adjacent to each other are substantially in a line-symmetrical shape.
The conductive member 704 connected to the power terminal 44b in the power supply connector 42 is disposed on the 2 nd surface of the insulating member 50, and branches into the 1 st portion 704a and the 2 nd portion 704 b. The conductive member 705a disposed on the 1 st surface of the insulating member 50 is electrically connected to the 1 st portion 704a of the conductive member 704 disposed on the 2 nd surface of the insulating member 50, and the negative electrode-side terminal of the filter capacitor Ca in the 1 st filter 6a is connected to the 1 st negative electrode-side terminal 46a2 of the terminal unit 46. The conductive member 705b disposed on the 1 st surface of the insulating member 50 is electrically connected to the 2 nd portion 704b of the conductive member 704 disposed on the 2 nd surface of the insulating member 50, and the negative-electrode-side terminal of the filter capacitor Cb in the 2 nd filter 6b is connected to the 2 nd negative-electrode-side terminal 46b2 of the terminal unit 46. While the conductive member 705b is disposed substantially at the center of the insulating member 50 in embodiment 1, the conductive member 705b is disposed at the peripheral edge of the insulating member 50 in embodiment 2.
Although a part of the 2 nd portion 704b of the conductive member 704 and a part of the conductive member 702a overlap in the vertical direction with respect to the paper surface of fig. 5, the conductive member 704 is disposed on the 2 nd surface of the insulating member 50 and the conductive member 702a is disposed on the 1 st surface of the insulating member 50 as described above, and therefore do not contact each other.
The 1 st portion 704a of the branched conductive member 704 is further branched to a1 st ground line 706a having a narrow width. In addition, the 2 nd portion 704b of the branched conductive member 704 is further branched to have a2 nd ground line 706b with a narrow width. The 1 st ground line 706a and the 2 nd ground line 706b are disposed on the 2 nd surface of the insulating member 50.
The 1 st ground line 706a is a conductor corresponding to a small current circuit, and extends to and is connected to a substrate on which a1 st circuit unit 51a described later is mounted and a substrate on which switching elements Qa1 and Qa2 of the 1 st power relay 5a are mounted. The 2 nd ground line 706b is a conductor corresponding to a small current circuit, and extends to and is connected to a substrate on which a2 nd circuit unit 51b described later is mounted and substrates on which switching elements Qb1 and Qb2 of the 2 nd power supply relay 5b are mounted.
As shown in fig. 5, the 1 st control unit 1a and the 2 nd power supply relay 5b, and the 1 st filter 6a and the 2 nd filter 6b in the 2 nd control unit 1b, which are configured as two systems, are symmetrically disposed in the same direction by the same member, respectively, oppositely, and are connected to the respective conductive members, respectively, but the widths, lengths, and the like of the respective conductive members are configured to be as identical as possible so that no difference occurs in, for example, inductance, impedance between the two systems.
In addition, a wiring substrate provided with a wiring pattern by printed wiring or the like may be used instead of the insulating member 50. When this wiring board is used, the switching elements Qa1, Qa2, Qb1, and Qb2 of the 1 st power supply relay 5a and the 2 nd power supply relay 5b and the filter capacitors Ca and Cb and the filter coils CLa and CLb of the 1 st filter 6a and the 2 nd filter 6b are mounted on the wiring board, respectively, and are connected by a wiring pattern provided on the wiring board, respectively.
In addition to the conductive member 701 having a wide width as the bus bar, the power supply terminal 44a of the power supply connector 42 may be connected to the 1 st wiring pattern 801a and the 2 nd wiring pattern 801b having a narrow width for a small current. Since the wiring patterns 801a and 801b are connected to the power supply terminal 44a, the 1 st wiring pattern 801a and the 2 nd wiring pattern 801b are provided so as to branch from the power supply terminal 44 a. The 1 st wiring pattern 801a and the 2 nd wiring pattern 801b are provided on one surface of the insulating member 50, similarly to the conductive members 701, 702a, 702b, 703a, 703b, 705a, and 705b as the bus bars described above. In addition, ordinary leads may be used instead of the 1 st wiring pattern 801a and the 2 nd wiring pattern 801 b.
The 1 st wiring pattern 801a branched from the power supply terminal 44a is connected to the 1 st circuit portion 51 a. The 1 st circuit unit 51a includes the power supply relay drive circuit 35a shown in fig. 3 and the 1 st detection circuit 36a having the current detection resistor R6 in the 1 st control unit 1a, and the like. The 2 nd wiring pattern 801b branched from the power supply terminal 44a is connected to the 2 nd circuit unit 51 b. The 2 nd circuit unit 51b includes a power supply relay drive circuit (not shown) of the 2 nd control unit 1b, a 1 st detection circuit (not shown) having a current detection resistor R6, and the like.
As shown in fig. 4, a part of the 1 st wiring pattern 801a and a part of the 2 nd wiring pattern 801b are provided with a fine pattern portion that can be fused by an overcurrent equal to or larger than a predetermined value, and an excessive current equal to or larger than the predetermined value can be prevented from flowing when a ground fault occurs in the power relay drive circuit 35a and the detection circuits in the 1 st control unit 1a and the 2 nd control unit 1 b.
The insulating member 50 includes a plurality of 1 st through holes 52a formed near the 1 st circuit portion 51a and a plurality of 2 nd through holes 52b formed near the 2 nd circuit portion 51 b. As shown in fig. 2, the 1 st through hole 52a is connected to a lead 521a connected to the 1 st CPU10a mounted on the control board 4, and the 2 nd through hole 52b is connected to a lead 521b connected to the 2 nd CPU10b mounted on the control board 4. The signal line from the 1 st signal connector 43a is connected to the 1 st power module having the 1 st inverter circuit 3a via the middle frame 401 as shown in fig. 2. The signal line from the 2 nd signal connector 43b is connected to the 2 nd power module having the 2 nd inverter circuit 3b via the middle frame 401 as shown in fig. 2.
Since a large current flows through the power relay switching elements Qa1, Qa2, Qb1, and Qb2 of the 1 st power relay 5a and the 2 nd power relay 5b, heat generation is large, and heat dissipation must be considered. The switching element is disposed near the upper surface of the housing 40 and is located outside the electric power steering apparatus. Therefore, the following structure is adopted: the heat sink is brought into contact with the power relay switching elements Qa1, Qa2, Qb1, and Qb2, and a part of the heat sink is exposed to the outside of the case 40.
Fig. 6 is a perspective view of a radiator and a cover plate in an electric power steering apparatus according to embodiment 2 of the present invention. In fig. 6, a cover plate 54 made of resin is provided with an opening 41d into which the heat sink 53 is inserted, and the heat sink 53 formed in a screen shape is exposed from the opening 41 d. The lower surface 53a of the heat sink 53 is in contact with the power relay switching elements Qa1, Qa2, Qb1, and Qb2, so as to ensure heat dissipation of the power relay switching elements.
The filter chamber 41c, which is a part of the cover plate 54, is configured to incorporate two sets of filter capacitors Ca and Cb and two sets of filter coils CLa and CLb. The cover plate 54 is provided on the case 40 instead of the 1 st and 2 nd smoothing chambers 41a and 41b shown in fig. 2, and is arranged to cover the power relay switching elements Qa1, Qa2, Qb1 and Qb2 of the two sets of power relays 5a and 5b mounted on the case 40, capacitors such as two sets of smoothing capacitors Ca and Cb, two sets of smoothing coils CLa and CLb, and filters.
As described above, the power supply system line provided by the power supply connector 42 provided on the upper surface portion of the housing 40 of the control unit 1 is branched into the 1 st part 701a and the 2 nd part 701b by the conductive member 701 which is two thick bus bars, and further branched into the 2 1 st wiring patterns 801a and the 2 nd wiring patterns 801b which are thin. The branched system of the 1 st part 701a of the conductive member 701 as the bus bar is connected to the 1 st power supply relay 5a, the 1 st filter 6a, and the like in the 1 st control unit 1a, and the system of the 2 nd part 701b of the conductive member 701 is connected to the 2 nd power supply relay 5b, the 2 nd filter 6b, and the like in the 2 nd control unit 1 b.
With the above configuration, the 1 st power supply relay 5a and the 2 nd power supply relay 5B are disposed at the most upstream position of the + B power supply connected to the power supply connector 42 of the electric power steering apparatus, and the power supply can be shut off for a failure occurring on the downstream side of these power supply relays. In addition, since only 1 power supply connector 42 is provided instead of 2 power supply connectors, redundancy of the control unit can be ensured. Further, the 1 st filter 6a and the 2 nd filter 6b can be disposed close to the 1 st inverter circuit 3a and the 2 nd inverter circuit 3b, which are noise generating portions, and noise generated by the inverter circuits can be effectively released. Further, since the components such as the filter capacitors Ca and Cb and the filter coils CLa and CLb constituting the 1 st filter 6a and the 2 nd filter 6b are collectively arranged in the 1 st filter chamber 41a and the 2 nd filter chamber 41b which are convex in the axial direction, the device can be downsized.
Further, since the 1 st power supply relay 5a, the 2 nd power supply relay 5b, the 1 st filter 6a, the 2 nd filter 6b, the 1 st circuit unit 51a, and the 2 nd circuit unit 51b are collectively arranged on the upper surface portion of the housing 40, and the control substrate 4, the 1 st inverter circuit 3a, and the 2 nd inverter circuit 3b are arranged inside the housing 40, the 1 st power supply relay 5a, the 2 nd power supply relay 5b, the 1 st filter 6a, the 2 nd filter 6b, the 1 st circuit unit 51a, and the 2 nd circuit unit 51b can be independently designed without being affected by the control substrate 4, the 1 st inverter circuit 3a, and the 2 nd inverter circuit unit 3b, and can contribute to downsizing of the device. Further, the 1 st power supply relay 5a, the 2 nd power supply relay 5b, the 1 st filter 6a, the 2 nd filter 6b, the 1 st circuit unit 51a, and the 2 nd circuit unit 51b disposed on the upper surface portion of the housing 40, and the control board 4, the 1 st inverter circuit 3a, the 2 nd inverter circuit 3b, and the like disposed inside the housing 40 are arranged in consideration of the arrangement of their respective terminals so as to facilitate connection.
As described above, according to the electric power steering apparatus according to embodiment 2 of the present invention, the ground line can be arranged in each circuit of each group, similarly to the line of the + B power source, by branching the ground line into 4 lines while ensuring the heat radiation performance of the power supply relay. This also allows the circuits and power supply system lines of the respective groups to be independently arranged and connected, and therefore, the possibility of one of the circuits and the power supply system lines affecting the other when an abnormality occurs can be reduced.
The present invention is not limited to the electric power steering apparatuses according to embodiments 1 and 2 described above, and the configurations of embodiments 1 and 2 may be appropriately combined, partially modified, or omitted without departing from the scope of the present invention.
Industrial applicability of the invention
The present invention is applicable to an electric power steering apparatus mounted on a vehicle such as an automobile, and is further applicable to the automobile industry.
Description of the reference symbols
1a control unit for controlling the operation of the device,
1a control unit of the 1 st part,
1b a 2 nd control unit for controlling the operation of the motor,
2, the motor is driven by a motor,
24 the windings of the armature are wound in a winding way,
2a 1 st armature winding, and,
2b the 2 nd armature winding, 2b,
10a of the 1 st CPU, the CPU,
10b the 2 nd CPU, the CPU,
3a 1 st inverter circuit, and,
3b a 2 nd inverter circuit, and,
4a control substrate for controlling the operation of the display,
4a 1 st control circuit section for controlling the operation of the motor,
4b a 2 nd control circuit section,
5a 1 st power supply relay for supplying power to the power supply,
5b a 2 nd power supply relay,
6a of the first filter (1) and,
6b a 2 nd filter, the second filter being,
7, an ignition switch is turned on and off,
the class of 8 sensors is that of the,
9 a battery, wherein the battery is connected with the power supply,
12a of the 1 st input circuit,
12b a 2 nd input circuit for inputting a signal,
11a of the 1 st drive circuit,
11b a 2 nd drive circuit for driving the light emitting element,
17a the 1 st rotation sensor and the second rotation sensor,
17b the 2 nd rotation sensor, and,
15 a notification unit for notifying the user of the presence of the user,
16a of the first output circuit 1, and,
16b a2 nd output circuit for outputting,
21 the output shaft of the motor is driven,
25 of the motor casing, and a motor casing,
26a of the 1 st winding end portion,
26b the 2 nd winding end portion,
27 to connect the rings to each other,
28 of the frame, and a frame,
40 of the outer shell of the medical instrument,
41a of the 1 st filter chamber, and,
41b a2 nd filter chamber, and,
42 a connector for a power source, wherein,
43a of the 1 st signal connector,
43b a2 nd signal connector, and,
35a power supply relay drive circuit for supplying power to the power supply,
36a of the first detection circuit 1 and the second detection circuit,
13a 2 nd detection circuit for detecting,
18u a 3 rd detection circuit which is,
19u a 4 th detection circuit for detecting,
44a, 44b of the power supply terminals,
46a terminal portion of the first and second terminals,
46a1, 46b1 positive electrode-side terminal,
46a2, 46b2 negative electrode-side terminal,
701. 702a, 702b of the conductive member,
50 an insulating member for a heat-generating element,
51a of the 1 st circuit section,
51b the 2 nd circuit part of the circuit,
52a, a1 st through-hole,
52b, a2 nd through-hole,
401 an intermediate frame, which is,
521a and 521b are arranged on the lead wire,
706a of the 1 st ground line,
706b a2 nd ground line,
54 a cover plate for the lid-plate,
53 heat sink.

Claims (19)

1. An electric power steering apparatus comprising:
an electric motor that generates an assist torque based on a steering torque generated by a vehicle driver; a control unit that controls the motor; and a power supply connector connected to a battery mounted on the vehicle and supplying power to the control unit and the motor, wherein the electric power steering apparatus is characterized in that,
The motor includes two sets of armature windings consisting of a 1 st armature winding and a 2 nd armature winding of substantially the same structure,
the control means is composed of two sets of control means having substantially the same configuration, the two sets of control means being composed of a 1 st control means configured to be able to independently control the 1 st armature winding and a 2 nd control means configured to be able to independently control the 2 nd armature winding,
the 1 st control unit and the 2 nd control unit respectively include:
a power supply relay configured to be capable of switching a power supply;
a filter connected to the power relay;
an input circuit to which information from the sensor is input;
a drive circuit that generates a drive signal that drives the motor;
an inverter circuit controlled by the drive signal; and
a control circuit unit including a CPU for outputting a command signal for controlling the motor to the drive circuit based on the information input to the input circuit,
the power supply connector is composed of a single connector,
a power supply system connected to at least the positive electrode side of the battery among the terminals of the power supply connector is branched into two lines in the vicinity of the terminals,
The two lines obtained by the bifurcation are further bifurcated into 2 lines respectively,
the power supply relay, the filter, and the inverter circuit in the 1 st control unit are arranged such that the power supply relay is disposed on an upstream side of the power supply system, the power supply relay, the filter, and the inverter circuit in the 1 st control unit are sequentially connected to one of two lines branched from the branch, and the one line is branched again,
one of the two lines branched out again is connected to at least a 1 st detection circuit that monitors the power supply system in the 1 st control unit,
the power supply relay, the filter, and the inverter circuit in the 2 nd control unit set the power supply relay on an upstream side of the power supply system, the power supply relay, the filter, and the inverter circuit in the 2 nd control unit being connected in order to one line branched again from the other line of the two lines branched,
another line branched again from the other of the two lines branched is connected with at least a 1 st detection circuit monitoring the power supply system in the 2 nd control unit,
The power supply relay and the filter in the 1 st control unit and the power supply relay and the filter in the 2 nd control unit have substantially the same configuration and are arranged substantially symmetrically with respect to the terminal of the power supply connector,
the 2 lines into which the signal is again branched in the 1 st control unit and the 2 lines into which the signal is again branched in the 2 nd control unit are arranged substantially symmetrically with respect to the terminal of the power supply connector,
the 1 st detection circuit in the 1 st control unit and the 1 st detection circuit in the 2 nd control unit have substantially the same configuration.
2. The electric power steering apparatus according to claim 1,
the motor and the control unit are arranged coaxially,
the power supply connector is disposed at an axial end of the control unit,
the power supply relay, the filter, and the 1 st detection circuit are disposed at an end portion of the control unit in the axial direction adjacent to the power supply connector,
at least one of the input circuit, the drive circuit, the inverter circuit, and a control circuit unit including the CPU is disposed on the control means on the motor side of the power supply relay, the filter, and the 1 st detection circuit.
3. The electric power steering apparatus according to claim 1,
the 1 st detection circuit of the control unit has at least a function of detecting an overcurrent of the power supply system, and is configured to determine that the CPU is abnormal when a current equal to or larger than a predetermined value flows, and to shut off the power supply system to which the CPU determined to be abnormal belongs.
4. The electric power steering apparatus according to claim 2,
the 1 st detection circuit of the control unit has at least a function of detecting an overcurrent of the power supply system, and is configured to determine that the CPU is abnormal when a current equal to or larger than a predetermined value flows, and to shut off the power supply system to which the CPU determined to be abnormal belongs.
5. The electric power steering apparatus according to any one of claims 1 to 4,
a 2 nd detection circuit that detects an overcurrent on a downstream side of the power supply system or a ground fault of the power supply system by using the filter in the control unit,
the 2 nd detection circuit is configured to cut off the power supply relay in the power supply system in which the overcurrent or the ground fault is detected, when the overcurrent or the ground fault is detected.
6. The electric power steering apparatus according to claim 5,
a 2 nd drive circuit for driving the power supply relay in the vicinity of the 1 st detection circuit of the control unit,
the 1 st detection circuit is configured to monitor at least a current flowing in the 2 nd drive circuit and on a downstream side of the power supply system than the 2 nd drive circuit.
7. The electric power steering apparatus according to claim 3 or 4,
a 2 nd drive circuit for driving the power supply relay in the vicinity of the 1 st detection circuit of the control unit,
the 1 st detection circuit is configured to monitor at least a current flowing in the 2 nd drive circuit and on a downstream side of the power supply system than the 2 nd drive circuit.
8. The electric power steering apparatus according to claim 3 or 4,
the control unit includes a case adjacent to the power supply connector, and the power supply relay, the 1 st detection circuit, and the filter are built in each of the groups.
9. The electric power steering apparatus according to claim 2,
the control unit includes a case adjacent to the power supply connector, and the power supply relay, the 1 st detection circuit, and the filter are built in each of the groups.
10. The electric power steering apparatus according to claim 5,
the control unit includes a case adjacent to the power supply connector, and the power supply relay, the 1 st detection circuit, and the filter are built in each of the groups.
11. The electric power steering apparatus according to claim 6,
the control unit includes a case adjacent to the power supply connector, and the power supply relay, the 1 st detection circuit, and the filter are built in each of the groups.
12. The electric power steering apparatus according to claim 7,
the control unit includes a case adjacent to the power supply connector, and the power supply relay, the 1 st detection circuit, and the filter are built in each of the groups.
13. The electric power steering apparatus according to claim 8,
the control unit includes a case adjacent to the power supply connector, and the power supply relay, the 1 st detection circuit, and the filter are built in each of the groups.
14. The electric power steering apparatus according to any one of claims 1 to 4,
Of the terminals of the power supply connector, the terminal connected to the negative electrode side of the battery is branched into 2 pieces in the vicinity thereof,
the 2 lines branched are further branched into 2 lines respectively,
one of the 2 lines branched again is constituted by a ground line connected to at least a portion of the 1 st detection circuit at the ground level.
15. The electric power steering apparatus according to claim 5,
of the terminals of the power supply connector, the terminal connected to the negative electrode side of the battery is branched into 2 pieces in the vicinity thereof,
the 2 lines branched are further branched into 2 lines respectively,
one of the 2 lines branched again is constituted by a ground line connected to at least a portion of the 1 st detection circuit at the ground level.
16. The electric power steering apparatus according to claim 6,
of the terminals of the power supply connector, the terminal connected to the negative electrode side of the battery is branched into 2 pieces in the vicinity thereof,
the 2 lines branched are further branched into 2 lines respectively,
one of the 2 lines branched again is constituted by a ground line connected to at least a portion of the 1 st detection circuit at the ground level.
17. The electric power steering apparatus according to claim 7,
of the terminals of the power supply connector, the terminal connected to the negative electrode side of the battery is branched into 2 pieces in the vicinity thereof,
the 2 lines branched are further branched into 2 lines respectively,
one of the 2 lines branched again is constituted by a ground line connected to at least a portion of the 1 st detection circuit at the ground level.
18. The electric power steering apparatus according to claim 8,
of the terminals of the power supply connector, the terminal connected to the negative electrode side of the battery is branched into 2 pieces in the vicinity thereof,
the 2 lines branched are further branched into 2 lines respectively,
one of the 2 lines branched again is constituted by a ground line connected to at least a portion of the 1 st detection circuit at the ground level.
19. The electric power steering apparatus according to any one of claims 9 to 13,
of the terminals of the power supply connector, the terminal connected to the negative electrode side of the battery is branched into 2 pieces in the vicinity thereof,
the 2 lines branched are further branched into 2 lines respectively,
One of the 2 lines branched again is constituted by a ground line connected to at least a portion of the 1 st detection circuit at the ground level.
CN201680089931.0A 2016-10-13 2016-10-13 Electric power steering apparatus Active CN109843701B (en)

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CN109843701A (en) 2019-06-04

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